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set home=0 on start apmplanner2 #1204

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Andr3g2 opened this issue Apr 27, 2020 · 4 comments
Open

set home=0 on start apmplanner2 #1204

Andr3g2 opened this issue Apr 27, 2020 · 4 comments

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@Andr3g2
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Andr3g2 commented Apr 27, 2020

Hallo,

After each start of the app the coordinate WP0=0,0 (HOME=0,0)
LAT en LON is zero which indicates a location somewhere in the sea before Africa.
only later, when the enter menu:flightplan:editwp , the value is correct.
details see below.

Whats going wrong?
This problem has been around for a long time. (2.0.24, 2.0.27)

I think a WP should never be NULL.
If write WP to device there should be print a warning if WP=0,0

regard Andre

details:

apmplanner v2.0.27-rc1

  • s1
    $ cat mission.rov.test2.txt
    QGC WPL 110
    0 1 0 16 0 0 0 0 51.5100000000000001 14.1400000000000001 111.111000000000000 1
    1 0 3 16 0 0 0 0 51.5200000000000001 14.1500000000000001 0 1
    2 0 3 16 0 0 0 0 51.5300000000000001 14.1600000000000001 0 1
    3 0 3 16 0 0 0 0 51.5100000000000001 14.1700000000000001 0 1
    4 0 3 16 0 0 0 0 51.5100000000000001 14.1500000000000001 0 1

  • s2
    $ apmplanner2.sh | egrep -i "wp|way|point|status|xml"
    [20200427 19:33:35.490 INFO ] - APPLICATION_VERSION: "v2.0.27-rc1"
    [20200427 19:33:36.868 DEBUG] - Writing ( "https://autotest.ardupilot.org/Parameters/ArduPlane/apm.pdef.xml" ) to ( "/home/admin1/apmplanner2/ardupilotmega/arduplane.pdef.xml" )
    [20200427 19:33:52.033 DEBUG] - Using ( "/home/admin1/apmplanner2/ardupilotmega/ardurover.pdef.xml" ) for parameters
    [20200427 19:33:52.090 INFO ] - updateWaypointList:
    [20200427 19:33:52.093 DEBUG] - UPDATE WP LIST IN 2D MAP CALLED FOR UAS 1
    [20200427 19:33:52.095 DEBUG] - UAS: new system_status 2
    [20200427 19:33:52.129 INFO ] - updateWaypointList:
    [20200427 19:33:52.149 DEBUG] - handleWaypointCount() - Number of waypoints to fetch is 5
    [20200427 19:33:52.150 INFO ] - STATUS TEXT: 1 : "ArduRover v2.52-beta (5a6394ed)"
    [20200427 19:33:52.303 INFO ] - updateWaypointList:
    [20200427 19:33:52.303 INFO ] - WP: 0
    [20200427 19:33:52.303 DEBUG] - UPDATE WP LIST IN 2D MAP CALLED FOR UAS 1
    [20200427 19:33:52.304 DEBUG] - handleWaypoint() - Received waypoint 0
    [20200427 19:33:52.349 INFO ] - STATUS TEXT: 2 : "Warming up ADC..."
    [20200427 19:33:52.406 INFO ] - updateWaypointList:
    [20200427 19:33:52.407 INFO ] - WP: 0
    [20200427 19:33:52.407 INFO ] - WP: 1
    [20200427 19:33:52.407 DEBUG] - UPDATE WP LIST IN 2D MAP CALLED FOR UAS 1
    [20200427 19:33:52.408 DEBUG] - handleWaypoint() - Received waypoint 1
    [20200427 19:33:52.457 INFO ] - STATUS TEXT: 1 : "<startup_ground> GROUND START"
    [20200427 19:33:52.519 INFO ] - updateWaypointList:
    [20200427 19:33:52.519 INFO ] - WP: 0
    [20200427 19:33:52.520 INFO ] - WP: 1
    [20200427 19:33:52.520 INFO ] - WP: 2
    ....
    [20200427 19:33:52.842 INFO ] - STATUS TEXT: 2 : "Beginning INS calibration; do not move vehicle"
    [20200427 19:33:53.737 DEBUG] - Param: "WP_RADIUS" : QVariant(double, 2)
    [20200427 19:33:54.714 INFO ] - STATUS TEXT: 1 : "Initialising APM..."
    [20200427 19:33:56.136 INFO ] - STATUS TEXT: 1 : "\n\n Ready to drive."
    [20200427 19:33:56.152 INFO ] - "New current waypoint 0"

  • s3
    menu:flightplan:onboardwp
    0 HOME (lat. 0.000000, lon 0.000000, alt 0.00) yaw: 0;

  • s4
    menu:flightplan:onboardwp
    0 HOME (lat. 51.1500000, lon 14.1400000, alt 111.11) yaw: 0;

  • s5
    menu:flightplan:
    -> fly to africa

  • s6
    menu:flightplan:editwp
    0 HOME (lat. 0.000000, lon 0.000000, alt 0.00) yaw: 0;

  • s7
    menu:flightplan:editwp
    0 HOME (lat. 51.1500000, lon 14.1400000, alt 111.11) yaw: 0;

  • s8
    menu:flightplan:
    -> fly to MYHOME (WP 0)
@Andr3g2
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Andr3g2 commented May 8, 2020

sorry i have see any lines are unreadable.
edit: replace htmltag with "keyword"

Hallo,

After start apmplanner2 the coordinate are WP0=0,0 (HOME=0,0)
LAT en LON is zero which indicates a location somewhere in the sea before Africa
.
later, if the enter menu:flightplan:editwp:"refresh", the value is correct.
details see below.

Whats going wrong?
This problem has been around for a long time. (2.0.24, 2.0.27)

my mind:
I think a WP should be never NULL.
If write WP to device, there should be print a warning if WP=0,0

regards Andre

details:

apmplanner v2.0.27-rc1

  • s1
    $ cat mission.rov.test2.txt
    QGC WPL 110
    0 1 0 16 0 0 0 0 51.5100000000000
    001 14.1400000000000001 111.111000000000000 1
    1 0 3 16 0 0 0 0 51.5200000000000
    001 14.1500000000000001 0 1
    2 0 3 16 0 0 0 0 51.5300000000000
    001 14.1600000000000001 0 1
    3 0 3 16 0 0 0 0 51.5100000000000
    001 14.1700000000000001 0 1
    4 0 3 16 0 0 0 0 51.5100000000000
    001 14.1500000000000001 0 1

  • s2
    $ apmplanner2.sh | egrep -i "wp|way|point|status|xml"
    [20200427 19:33:35.490 INFO ] - APPLICATION_VERSION: "v2.0.27-rc1"
    [20200427 19:33:36.868 DEBUG] - Writing ( "https://autotest.ardupilot.org/Parame
    ters/ArduPlane/apm.pdef.xml" ) to ( "/home/admin1/apmplanner2/ardupilotmega/ardu
    plane.pdef.xml" )
    [20200427 19:33:52.033 DEBUG] - Using ( "/home/admin1/apmplanner2/ardupilotmega/
    ardurover.pdef.xml" ) for parameters
    [20200427 19:33:52.090 INFO ] - updateWaypointList:
    [20200427 19:33:52.093 DEBUG] - UPDATE WP LIST IN 2D MAP CALLED FOR UAS 1
    [20200427 19:33:52.095 DEBUG] - UAS: new system_status 2
    [20200427 19:33:52.129 INFO ] - updateWaypointList:
    [20200427 19:33:52.149 DEBUG] - handleWaypointCount() - Number of waypoints to f
    etch is 5
    [20200427 19:33:52.150 INFO ] - STATUS TEXT: 1 : "ArduRover v2.52-beta (5a6394ed
    )"
    [20200427 19:33:52.303 INFO ] - updateWaypointList:
    [20200427 19:33:52.303 INFO ] - WP: 0
    [20200427 19:33:52.303 DEBUG] - UPDATE WP LIST IN 2D MAP CALLED FOR UAS 1
    [20200427 19:33:52.304 DEBUG] - handleWaypoint() - Received waypoint 0
    [20200427 19:33:52.349 INFO ] - STATUS TEXT: 2 : "Warming up ADC..."
    [20200427 19:33:52.406 INFO ] - updateWaypointList:
    [20200427 19:33:52.407 INFO ] - WP: 0
    [20200427 19:33:52.407 INFO ] - WP: 1
    ...
    [20200427 19:33:52.798 DEBUG] - UPDATE WP LIST IN 2D MAP CALLED FOR UAS 1
    [20200427 19:33:52.799 DEBUG] - handleWaypoint() - Received waypoint 4
    [20200427 19:33:52.819 DEBUG] - handleWaypoint() - Received all waypoints
    [20200427 19:33:52.842 INFO ] - STATUS TEXT: 2 : "Beginning INS calibration; do
    not move vehicle"
    [20200427 19:33:53.737 DEBUG] - Param: "WP_RADIUS" : QVariant(double, 2)
    [20200427 19:33:54.714 INFO ] - STATUS TEXT: 1 : "Initialising APM..."
    [20200427 19:33:56.136 INFO ] - STATUS TEXT: 1 : "\n\n Ready to drive."
    [20200427 19:33:56.152 INFO ] - "New current waypoint 0"

  • s3
    menu:flightplan:onboardwp
    0 HOME (lat. 0.000000, lon 0.000000, alt 0.00) yaw: 0;

  • s4
    menu:flightplan:onboardwp:"refresh"
    0 HOME (lat. 51.1500000, lon 14.1400000, alt 111.11) yaw: 0;

  • s5
    menu:flightplan:"go home"
    -> fly to africa

  • s6
    menu:flightplan:editwp
    0 HOME (lat. 0.000000, lon 0.000000, alt 0.00) yaw: 0;

  • s7
    menu:flightplan:editwp:"refresh"
    0 HOME (lat. 51.1500000, lon 14.1400000, alt 111.11) yaw: 0;

  • s8
    menu:flightplan:"go home"
    -> fly to MYHOME (real WP 0)

@Arne-W
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Arne-W commented May 10, 2020

The question is always which position should be used by default? As soon as we have seen an vehicle sending a valid home position its used and stored. But as long as we have not seen any valid position which position shall be used for home?

@Arne-W
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Arne-W commented May 17, 2020

@Andr3g2 Have you seen my comment??

@Andr3g2
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Andr3g2 commented May 31, 2020

Dear Arne,

Thanks for your answer.
I dont understand workflow.
on issue #1189 written: receiving MAVLINK_MSG_ID_HOME_POSITION the UAV home position
but i have not found this.
I have 2 different controller. seem different behavior.
(ardupilot, minipix)

sometimes open a windows with following message:
Set a new home position for vehicle MAV 001
Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location
seem correspond with following log:
[20200531 22:26:10.078 INFO ] - STATUS TEXT: 6 : "EKF2 IMU0 Origin set to GPS"
[20200531 22:26:55.935 INFO ] - STATUS TEXT: 6 : "EKF2 IMU0 is using GPS"

Scenario1

  • start applanner
  • start minipix (connect on usb)
  • after 5 sec
    • symbol Home (black) visible (correct position)
    • wait on sat...
    • WP:
      0 Home (lat 0.000, lon 0.0...
      ....
      5 Return to launch location
      -> i cannot find a way to fix it.
      [20200531 21:53:17.241 DEBUG] - UPDATE WP LIST IN 2D MAP CALLED FOR UAS 1
      [20200531 21:53:17.248 DEBUG] - handleWaypoint() - Received waypoint 5
      [20200531 21:53:17.268 DEBUG] - handleWaypoint() - Received all waypoints
      [20200531 21:53:17.320 DEBUG] - Param: "WPNAV_SPEED" : QVariant(double, 500)
      [20200531 21:53:17.321 DEBUG] - UASAction setting speed spin box from "WPNAV_SPEED"
      [20200531 21:53:17.322 DEBUG] - Param: "WPNAV_RADIUS" : QVariant(double, 200)
      [20200531 21:53:17.326 DEBUG] - Param: "WPNAV_SPEED_UP" : QVariant(double, 250)
      [20200531 21:53:17.329 DEBUG] - Param: "WPNAV_SPEED_DN" : QVariant(double, 110)
      [20200531 21:53:17.341 DEBUG] - Param: "WPNAV_RADIUS" : QVariant(double, 200)
      [20200531 21:53:17.342 DEBUG] - Param: "WPNAV_RADIUS" : QVariant(double, 200)
      [20200531 21:53:17.350 DEBUG] - Param: "WPNAV_ACCEL" : QVariant(double, 100)
      [20200531 21:53:17.351 DEBUG] - Param: "WPNAV_ACCEL_Z" : QVariant(double, 100)
      [20200531 21:53:17.352 DEBUG] - Param: "WPNAV_RFND_USE" : QVariant(int, 1)
      [20200531 21:53:18.352 DEBUG] - Param: "RALLY_INCL_HOME" : QVariant(int, 1)
      [20200531 21:53:18.510 INFO ] - "New current waypoint 0"
      [20200531 21:53:19.064 DEBUG] - Param: "WP_NAVALT_MIN" : QVariant(double, 0)
      [20200531 21:53:23.061 DEBUG] - Param: "SRTL_POINTS" : QVariant(int, 150)
      [20200531 21:53:26.306 INFO ] - STATUS TEXT: 2 : "PreArm: Throttle below Failsafe"

Scenario2

  • start applanner

  • start minipix (connect on usb)

  • after 5 sec

    • symbol Home (black) visible (correct position)
    • wait on sat...
    • WP:
      0 Home (lat 0.000, lon 0.0...
      ....
      5 Return to launch location

  • stop applanner

  • start applanner

  • after 5 sec

    • symbol Home (black) visible (correct position)

    • wait on sat...

    • WP:
      0 Home (lat 0.000, lon 0.0...
      ....
      5 Return to launch location

    • windows: Set a new home position for vehicle MAV 001 -> yes

    • WP:
      0 Home (lat 51... real value)
      ...
      5 RTL (0.0 , 0.0 ) -> fly to africa

regards Andre

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@Arne-W @Andr3g2